ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
adore::apps::OdometryModel Class Reference

a model for odometry sensor integrates velocities as measured with errors More...

#include <odometrymodel.h>

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Public Member Functions

 OdometryModel (adore::sim::AFactory *sim_factory=adore::sim::SimFactoryInstance::get(), adore::params::AFactory *paramfactory=adore::params::ParamsFactoryInstance::get(), unsigned int seed=0)
 
double nrand ()
 
virtual void update ()
 simulation step of the odometry estimate model More...
 

Private Attributes

double last_time_
 
double integration_step_
 
bool last_time_valid_
 
adore::fun::VehicleMotionState9d x_estimate_
 
bool relative_to_map_
 
std::default_random_engine generator_
 
std::normal_distribution< double > distribution_
 
adore::mad::AReader< adore::fun::VehicleMotionState9d > * vehicle_model_input_
 
adore::mad::AWriter< adore::fun::VehicleMotionState9d > * odometry_estimate_output_
 
adore::mad::OdeRK4< double > solver_
 
adore::mad::AFeed< adore::sim::ResetVehiclePose > * reset_pose_feed_
 
adore::params::APOdometryModelparams_
 

Detailed Description

a model for odometry sensor integrates velocities as measured with errors

Constructor & Destructor Documentation

◆ OdometryModel()

adore::apps::OdometryModel::OdometryModel ( adore::sim::AFactory sim_factory = adore::sim::SimFactoryInstance::get(),
adore::params::AFactory paramfactory = adore::params::ParamsFactoryInstance::get(),
unsigned int  seed = 0 
)
inline

Member Function Documentation

◆ nrand()

double adore::apps::OdometryModel::nrand ( )
inline
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◆ update()

virtual void adore::apps::OdometryModel::update ( )
inlinevirtual

simulation step of the odometry estimate model

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Member Data Documentation

◆ distribution_

std::normal_distribution<double> adore::apps::OdometryModel::distribution_
private

◆ generator_

std::default_random_engine adore::apps::OdometryModel::generator_
private

◆ integration_step_

double adore::apps::OdometryModel::integration_step_
private

◆ last_time_

double adore::apps::OdometryModel::last_time_
private

◆ last_time_valid_

bool adore::apps::OdometryModel::last_time_valid_
private

◆ odometry_estimate_output_

adore::mad::AWriter<adore::fun::VehicleMotionState9d>* adore::apps::OdometryModel::odometry_estimate_output_
private

< reads "true" state from vehicle model

◆ params_

adore::params::APOdometryModel* adore::apps::OdometryModel::params_
private

< resets zero position (map origin) odometry based state estimation model parameters

◆ relative_to_map_

bool adore::apps::OdometryModel::relative_to_map_
private

switch between map-relative odometry (default) and absolute odometry (debugging)

◆ reset_pose_feed_

adore::mad::AFeed<adore::sim::ResetVehiclePose>* adore::apps::OdometryModel::reset_pose_feed_
private

◆ solver_

adore::mad::OdeRK4<double> adore::apps::OdometryModel::solver_
private

< writes "estimate" for vehicle state

◆ vehicle_model_input_

adore::mad::AReader<adore::fun::VehicleMotionState9d>* adore::apps::OdometryModel::vehicle_model_input_
private

◆ x_estimate_

adore::fun::VehicleMotionState9d adore::apps::OdometryModel::x_estimate_
private

last vehicle state estimate


The documentation for this class was generated from the following file: